An Algorithm of Autonomous Navigation for Mobile Robot using Vision Sensor and Ultrasonic Sensor

비전 센서와 초음파 센서를 이용한 이동 로봇의 자율 주행 알고리즘

This paper proposes an algorithm for navigation of an autonomous mobile robot with vision sensor. For obstacle avoidance, we used a curvature trajectory method. Using this method, translational and rotational speeds are controlled independently and the mobile robot traces a smooth curvature trajectory that consists of circle trajectories to a target point. While trying to avoid obstacles, the robot fan be goal-directed using curvature trajectory.